FR3073770A1 - ROBOTIC DEVICE FOR STORING AND HANDLING OBJECTS - Google Patents

Abstract

A robotic device (1) for storing and handling objects comprising detection means adapted to detect the objects to be manipulated, a mast (5), a robotic arm (6) mounted on said mast (5) and configured to manipulate the detected objects The robotic device (1) comprises object supports (4 (1); 4 (2)) superimposed in a direction parallel to the mast (5) and mounted in rotation in a plane perpendicular to the mast (5), at least one of said object supports (4 (1); 4 (2)) comprising an opening (41) adapted to the passage of the robotic arm (6) by vertical displacement of the robotic arm (6) on the mast (5). Robotic device usable for storing and manipulating objects. Structure of the robotic device simple and compact.

Description

The present invention relates to the storage and handling of objects and in particular to robotic devices for storing and handling objects.

Storage means keeping objects in a given environment and in conditions suited to the objects stored: ambient temperature, low or high, brightness, humidity, etc.

It is known in the state of the art of devices making it possible to store and handle objects in various fields and in particular in the field of food preparation and cooking.

Indeed, there are devices for which the user wishing, for example, to prepare a dish must control the device by means of control, thus leading to a succession of operations for handling objects using handling tools. These allow a certain number of foods to be moved from their initial storage position to a preparation and / or cooking position.

This type of device is in particular proposed in document WO 2017 141 265 A1 where there is described an intelligent and automatic kitchen comprising several stations; a refrigerator suitable for storing food, a cooking zone and a washing machine. The smart kitchen also includes conveyors allowing the various stations to be linked together.

The refrigerator has object holders for storing food on multiple levels as well as a locomotor chamber. It also includes a first opening on the side for the entry of the containers coming from the washing apparatus and a second opening on the side by which the containers filled with ingredients are evacuated towards the cooking zone. The locomotor chamber includes a conveying system as well as trays initially stored in an inclined position. The trays are turned horizontally when a container arrives at the first opening so as to receive and then transport the containers from the washing machine to the desired object holder. A handling tool then allows the food to be loaded into the containers. Once the selected food is placed in the containers, the trays transport the containers filled with food to the second discharge opening to be transported to the cooking zone.

The cooking zone includes a robotic unit allowing food to be transferred from the containers to the cooking utensils.

Once the cooking step is complete, the cooking utensils and containers are transported via a conveyor to the washing machine.

The overall structure of the device described in this document is complex and bulky due to the use of conveyors connecting the various storage and handling stations.

Furthermore, the structure of the refrigerator used for food storage requires the use of trays fitted in the locomotor chamber and which by a conveyor system can move from one object holder to another. This locomotor chamber is bulky and occupies a significant space. In addition, it is necessary to have a handling tool for each object holder from which we would like to recover food. This increases the number of tools required, resulting in a bulky and complex structure.

The present invention aims to solve at least one of the aforementioned drawbacks and is applicable in various fields when they require the management of storage and manipulation of objects.

Thus, the invention relates to a robotic device for storing and handling objects comprising detection means adapted to detect the objects to be handled, a mast, a robotic arm mounted on said mast and configured to handle the detected objects. Said robotic device comprises supports for objects superimposed in a direction parallel to the mast and mounted for rotation in a plane perpendicular to the mast, at least one of said supports comprising an opening suitable for the passage of the robot arm by vertical movement of the robot arm on the mast .

The robotic device thus developed has a simple and space-saving structure. Indeed, the superimposition of the object supports and the formation in these supports of an opening adapted to the passage of a robotic arm by vertical displacement make it possible to obtain a compact robotic device in which the various detection means, storage and handling. This saves space.

In addition, the vertical movement of the robotic arm on the mast allows the robotic arm to simply move from one object holder to another in order to be able to handle the desired objects.

According to an advantageous characteristic of the invention, the object supports are movable in translation in said perpendicular plane of the mast.

Advantageously, at least one of the object supports is divided into several compartments.

This allows for example to separate the objects to be stored.

According to one embodiment, the robotic arm comprises a cross member and a handling part, said cross member being adapted to move vertically on the mast. Said handling part being mounted in rotation on said cross member and is adapted to move in translation on said cross member.

The handling part can thus easily handle the objects stored on the object support at which the handling part is located. The vertical movement of the cross member on the mast allows the handling part to move vertically also since the handling part is mounted on the cross member.

According to one aspect of the invention, the manipulation part of the robotic arm comprises a tool part mounted in rotation, one end of said tool part comprising tool mounting elements.

Tool mounting elements allow the tool portion to be easily attached to a handling tool. The assembly and disassembly of the handling tools is facilitated, thus making it possible to change the handling tool if necessary. In addition, the rotational mounting of the tooling part allows the manipulation tool to move in order to manipulate the stored objects.

According to an advantageous characteristic of the invention, the manipulation part of the robotic arm comprises an electromagnet adapted to maintain in a predefined position said manipulation part when mounting a tool at said end.

The electromagnet allows the correct positioning of the handling tools when they are mounted on the tooling part. In addition, the electromagnet allows the handling tools to be kept in a stable position without play, thus providing reliable handling of the stored objects.

Advantageously, the robotic arm has several handling parts.

This advantageous characteristic can be particularly advantageous for a large robotic device requiring the use of several handling parts. This feature can also allow you to manipulate several objects at the same time.

According to one embodiment, the robotic device comprises a protective enclosure adapted to house the detection means, the object supports and the robotic arm.

Such an embodiment may be advantageous, for example if the objects to be stored need to be kept in a particular environment (temperature, light, etc.).

Advantageously, the protective enclosure includes a window adapted to the passage of objects and acting as an interface with a user.

Other features and advantages of the invention will appear in the description below.

In the appended drawings, given by way of nonlimiting examples:

- Figure 1a illustrates in perspective an overview of the robotic device according to an embodiment of the invention;

- Figure 1b illustrates in exploded perspective the robotic device of Figure 1a;

- Figure 1c illustrates in perspective the same overview as that of Figure 1a but with part of the protective enclosure made transparent;

- Figure 2 illustrates a sectional view along the plane II-II in Figure 1a;

- Figure 3 illustrates another embodiment of an object support;

- Figure 4 illustrates in perspective a rear view of the robotic device of Figure 1c;

- Figure 5a illustrates a detail of Figure 4;

- Figure 5b illustrates a sectional view along the plane Vb-Vb in Figure 5a of the transmission and guiding means of an object support according to one embodiment;

- Figure 6 is a view similar to Figure 4 with one of the object holders open;

- Figures 7a and 7b illustrate in perspective the robotic arm mounted on the mast according to the embodiment of the robotic device of Figure 1;

- Figure 8 illustrates in perspective the robotic arm of Figures 7a and 7b in a different position; and

- Figure 9 illustrates in perspective the tooling part of the handling part of the robotic arm comprising the mounting elements and the detection means as well as an example of a handling tool that can be mounted to the tooling part.

We will now describe with reference to Figures 1a, 1b, 1c and 2 an embodiment of a robotic storage and handling device according to the invention. Initially, a description of the robotic device as well as its functioning as a whole will be given, then a detailed description of each component and their movements, only and relative, will be developed.

The robotic device 1 makes it possible to detect, store and manipulate objects.

According to the illustrated embodiment, the robotic device 1 comprises a protective enclosure 2, a framework 3, object supports 4 with circular contours, a mast 5 and a robotic arm 6. The object supports 4 are here at number of five 4 (1), 4 (2), 4 (3), 4 (4) and 4 (5). The object supports 4 are mounted around the mast 5 to which the robotic arm 6 is mounted. The frame 3 is here in a U shape and comes to support the object supports 4 and the mast 5 around which it is arranged.

According to the exemplary embodiment shown, the protective enclosure 2 houses the framework 3, the object supports 4, the mast 5, the robotic arm 6. The protective enclosure 2 also comprises covers 20 (1 ), 20 (3), 20 (4), 20 (5) respectively surrounding part of the object supports 4 (1), 4 (3), 4 (4) and 4 (5). A window 21 is formed on the front face of the protective enclosure 2 at the level of the object support 4 (2).

This description is made for a robotic device having object supports with circular contours, but is valid mutatis mutandis for any robotic device regardless of the general shape and the number of its object supports.

As can be seen in FIGS. 1b, 1c and 2, the object supports 4 are superimposed in a direction parallel to the mast 5. According to the illustrated embodiment, the mast 5 is located in the center of the robotic device 1 and the object supports 4 are rotatably mounted around the mast 5.

Of course, the mast 5 can be placed at any other point of the robotic device 1 and the object supports 4 may not be mounted around the mast 5. This is the case, for example, if the mast 5 is placed at one end of the object holders 4.

Each of the object supports 4 comprises an opening 41 through which the mast 5 is disposed. The openings 41 illustrated are U-shaped. Of course, certain object supports 4 may not include an opening 41 and the openings 41 may have different shapes.

According to the illustrated embodiment, the protective enclosure 2 comprises a window 21 suitable for the passage of objects.

In general, the operating steps of the robotic device 1 are as follows. A user controls the manipulation of one or more objects stored for example on a given object support 4 by means of control means not illustrated in the figures. This ordering step will not be described further in the description since it is not the subject of the present invention.

The robotic arm 6 moves along the mast 5 until it reaches the desired object support 4.

Detection means, not visible in these first figures and described below, detect the object to be manipulated.

The detected object is manipulated by means of the robotic arm 6.

These steps can take place in a completely different order, as will be explained later.

Figure 4 also illustrates an object holder 4 ′ according to another embodiment. The 4 ’object holder is divided into several 42’ compartments. These compartments 42 ’allow the object support 4’ to be divided into several storage areas.

Of course, the number of compartments 42 ’, their sizes and their shapes can vary as required.

Now, we will describe in more detail each of the components of the robotic device 1, their movements and their respective degrees of freedom.

As for the object supports 4, they are mobile in rotation and can also be mobile in translation in two directions.

In fact, the object supports 4 are mounted in rotation and each forms a plane perpendicular to the mast 5. The object supports 4 can thus rotate 360 ° in these planes perpendicular to the mast 5. According to the embodiment described, the object supports 4 rotate around the mast 5. According to one aspect of the invention, the object supports 4 are movable in translation in a plane perpendicular to the mast 5. Finally, the object supports 4 can also be mobile in translation in a plane parallel to the mast 5.

According to the illustrated embodiment and as can be seen in FIGS. 4, 5a and 5b, a rolling ring called the upper rotation ring 43, a rolling ring called the lower rotation ring 44, a toothed ring 47 and a mounting element 49 are arranged around each object support 4. For each object support 4, a first rotation servomotor 34 is assembled to the mounting element 49 for example by means of centering and screwing elements and a first rotation gear 36, in contact with the gear ring 47, is mounted to the first rotation servomotor 34.

The rotation of the object supports 4 is achieved by means of the first rotation servomotor 34. In fact, the first rotation servomotor 34 generates a rotation movement which is then transmitted to the ring gear 47 by means of the first wheel gear 36. The gear 47 thus cooperates with the first gear 36 to allow rotation of the object supports 4. The upper 43 and lower 44 bearing rings then serve as guide means during the rotational movement of object holders 4.

When the object holder 4 has rotated by the desired angle, the first rotation servomotor 34 stops the rotational movement of the object holder 4 and maintains opposition to this rotational movement.

In addition to this rotational movement, the object supports 4 are also movable in translation in a direction parallel to the mast 5. In the following description, this movement will be called vertical translation.

According to the illustrated embodiment, a rolling ring called upper translation ring 45, a rolling ring called lower translation ring 46 are also arranged around each object support 4. A toothed ring 48 is assembled, for example by screwing to the upper translation ring 45. For each object support 4, a second rotation servomotor 35 is assembled to the mounting element 49 for example by means of centering and screwing elements. The mounting element 49 is here arranged under the upper rotation 43, lower rotation 44, upper translation 45 and lower translation 46 rings. A second rotation toothed wheel 37 in contact with the toothed ring 48 is mounted on the second rotation servomotor 35.

The upper translation 45, lower translation 46 and toothed ring 48 bearing rings have an inclination relative to a direction perpendicular to the mast 5. Thanks to this inclination, the rotation of the toothed ring 48 allows the supports to objects to be movable in translation in a direction parallel to the mast 5. In order to facilitate movement, the inclination is preferably less than 5 °.

The rotational movement is carried out by means of the second rotary servomotor 35. The second rotary servomotor 35 generates a rotational movement which is then transmitted by means of the second toothed wheel 37 of rotation to the toothed ring 48. The ring toothed 48 thus cooperates with the second rotation toothed wheel 37 in order to allow the rotation of the object supports 4. The bearing rings of upper translation 45 and lower translation 46 then serve as guide means during the rotational movement.

Of course, any means for ensuring the rotational movements relative to the mast and the vertical translation of the object supports 4 can be used. We have described the use of bearing rings, crowns and toothed rings cooperating with toothed wheels and servomotors, but it will be obvious to those skilled in the art the possibility of using other means known in the art. of technique and allowing to obtain the same movements. As a nonlimiting example, it is possible to use a belt for the transmission of rotational movements.

Furthermore and as can be seen in FIG. 6, the object supports are also movable in translation in a direction perpendicular to the mast 5. For the rest of the description, this movement will be called horizontal translation.

According to the illustrated embodiment, the frame 3 comprises, at each object support 4, ball slides 30 arranged parallel on either side of each object support 4 assembled to the mounting element 49, by screwing for example. A rack 31 is fixed to each ball bearing runner 30. For each object support 4, a first translation toothed wheel 32 in contact with the rack 31 is mounted to a translation servomotor 33.

The translational servomotor 33 generates a rotational movement. This movement is transmitted to the first translation toothed wheel 32 and then transformed into a horizontal translation movement by means of the gear with the rack 31. The ball slides 30 then serve as guide means during the horizontal translation movement of the supports. objects 4.

The object supports 4 can slide along the ball slides 30, up to the stop 301. This type of guide is known in the art and will not be detailed in the present description.

Alternatively and by way of nonlimiting examples, the ball slides can be replaced by a bearing making it possible to support and guide a drive shaft or even by a linear guide rail.

We will now describe the robotic arm 6 mounted on the mast 5 and the movements it can perform.

The robotic arm 6 comprises a cross-member 61 and a handling part 62 mounted on the cross-member 61. When the robotic arm 6 moves vertically on the mast 5, it is in reality the cross-member 61 mounted on the mast 5 at one of its ends which moves vertically along the mast 5. Being mounted to the crosspiece 61, the handling part 62 also moves vertically.

In the example illustrated in FIGS. 7a and 7b, the mast 5 comprises an upper driving pulley 52 disposed at the upper end of the mast 5. A first translation motor 51 is mounted on the upper driving pulley 52. The first travel motor 51 can be mounted to the upper pulley 52 by means of a screwed shaft comprising a key and a screw. Other alternatives such as the use of a shaft held by a pin or of a screwed shaft comprising splines can also be envisaged.

A lower receiving pulley 53 is also arranged at the lower end of the mast 5. The upper pulley 52 and the lower pulley 53 are connected by means of a belt 54.

The first translational motor 51 creates a rotational movement thus causing the rotation of the upper pulley 52 and therefore that of the lower pulley 53 via the belt 54.

As can be seen in the figures, the cross-member 61 has a first linear ball guide 611 mounted on the mast 5 and surrounding a part of the belt 54. The first linear ball guide 611 can be mounted on the mast 5 by means of a guide rail and a carriage comprising rotating balls. Thus, the guide rail can be screwed to the mast 5 and the carriage can be screwed to the cross member 61 and the belt 54. The cross member 61 is thus in contact with the belt 54 at one of its ends.

The transmission of a translational movement is then carried out at this end by means of the belt system associated with the pulleys. The belt system associated with the pulleys thus makes it possible to transform the rotational movement of the pulleys into a translational movement.

Also, the cross-member 61 can move vertically downwards or upwards depending on the direction of rotation of the first translation motor 51.

According to the embodiment described, a counterweight 55 is mounted in linear guide on the mast 5. The counterweight 55 is mounted on the side opposite to the mounting end of the cross member 61 on the mast 5. The mass of the counterweight 55 is equal to the total mass of the crossmember 61 and of the handling part 62. This makes it possible to limit the power required of the first travel motor 51.

Alternatively and by way of nonlimiting examples, the first linear guide ball 611 can be replaced by a bearing system associated with a drive shaft. Similarly, the belt 54 can be replaced for example by a rack or by a helical connection.

We will now describe with reference to FIGS. 7a, 7b and 8, the movements that the manipulation part 62 of the robotic arm 6 can perform.

According to the illustrated embodiment, the handling part 62 comprises a main part 620 and a tooling part 7. The handling part is mounted on the cross-member 61 at the level of a second linear ball guide 621. As well as for the first linear ball guide 611, the second linear ball guide 621 can be mounted on the cross member 61 by means of a guide rail and a carriage comprising rotating balls.

In order to be able to manipulate the stored objects, the manipulation part has a certain number of degrees of freedom. Indeed, the handling part 62 can move horizontally on the cross-member 61, which allows it to move in a direction perpendicular to the mast 5. Furthermore, the handling part 62 is rotatably mounted on the cross-member 61, this which allows it to move in other directions not perpendicular to the mast 5.

According to the exemplary embodiment illustrated, a second translation motor 612 and a second driving translation gear 613 are mounted on the second linear ball guide 621. The second translation motor 612 can be assembled on the second linear guide 621 by screwing by example. The cross member 61 comprises a rack 614.

The illustrated guide and transmission means are similar to those described above for the horizontal translational movement of the object supports 4.

The second translation motor 612 makes it possible to generate a rotational movement. This movement, transmitted to the second drive translation toothed wheel 613, is transformed into translation movement of the handling part 62 along the cross-member 61 by virtue of the gear of the toothed wheel 613 with the rack 614.

The second linear ball guide 621 serves as guide means during the translational movement of the handling part 62 on the cross-member 61.

As explained previously, the second linear ball guide can be replaced by a bearing making it possible to support and guide a drive shaft and the rack can be replaced by a belt or a helical connection.

As can be seen in FIG. 8, a first rotation motor 623 is fixed to the second linear ball guide 621 for example by screwing and mounted to a drive shaft 622, for example by means of a screwed shaft comprising a key and a screw. The second linear ball guide 621 can also be fixed to the transmission shaft 622 by means of a shaft held by a pin or of a screwed shaft comprising splines.

The transmission shaft 622 is mounted, for example in pivot connection with a bearing, to the second linear ball guide 621 on one of its ends and to the main part 620 on its other end. The rotational movement of the first rotary motor 623 is transmitted to the main part 620 by means of the transmission shaft 622. The manipulation part 62 can thus rotate 360 ° around the transmission shaft 622.

According to the illustrated embodiment, the transmission shaft 622 is U-shaped and comprises two fixing ends 625. A second rotation motor 624, included between the fixing ends 625, is fixed to the transmission shaft 622 , for example by screwing at the fixing ends 625. The drive shaft 622 is pivotally connected to the main part 620 at the fixing ends 625. The rotation of the second rotation motor 624 allows the manipulation part 62 to rotate with respect to the drive shaft 622. The main part 620 can thus make an angle of 180 ° starting from the drive shaft 622 and along an axis parallel to the crosspiece 61. An example of a position inclined that can take the main part 620 is shown in Figure 8. The main part 620 is indeed in an inclined position in comparison with Figures 7a and 7b where the main part 620 is parallel mast 5.

Furthermore, the tool part 7 is rotatably mounted at the main part 620 at its end 626. The handling part 620 and the tool part 7 can be linked by means of a mechanical assembly in pivot connection, by example with two bearings. The expression "mounted in rotation" must be understood in its broad sense. The tool parts 7 and handling parts 620 can be linked by means of successive pivot connections and can thus have several degrees of freedom depending on the configurations.

The rotational movement of the tool part 7 is generated by means of a third rotation motor 71. The tool part 7 can then rotate, for example by defining an angle of 270 ° around the end 626.

As shown in Figure 9, the tool part 7 includes tool mounting elements at its end allowing the tool part 7 to be attached to tools for handling objects. In the embodiment illustrated by the figures, the handling tool 70 used is a pliers.

In order to be able to attach to the handling tool 70, the tooling part 7 comprises a connecting screw 72. The handling tool 70 comprises a tapped hole 701 adapted to accommodate the connecting screw 72. During the mounting the tooling part 7 to the handling tool, here the handling tool 70, a mounting motor 73 generates a rotational movement. This rotational movement is then transmitted to the assembly screw 72 by means of a third rotation toothed wheel 74.

Thus, when the mounting motor 73 rotates in one direction, the assembly screw 72 rotates in the same direction as the mounting motor 73 which makes it possible to screw the tool part 7 to the handling tool 70. When the assembly motor 73 rotates in the opposite direction, the assembly screw 72 rotates in the same direction as the assembly motor 73, which makes it possible to unscrew the tool part 7 of the handling tool 70.

The assembly and disassembly of handling tool 70 are thus facilitated. In addition, it is possible to change the handling tool 70 simply as needed and in particular according to the objects to be handled. Thus, the handling tool 70 can be a mechanical robotics gripper, a pneumatic flexible gripper or even a flexible gripper with a granular blocking transition transition. Depending on the fields of application, the handling tool 70 can also be a cutting blade or a thermal sensor.

The tooling part 7 also comprises a first centering zone 75 comprising an electromagnet 751. In the example illustrated, the electromagnet 751 is placed in the center of the tooling part 7. The electromagnet 751 allows the correct positioning of the tooling part 7 during the mounting of a handling tool 70 at its end. Once the tool has been mounted to the tooling part 7, the electromagnet 751 also makes it possible to hold the handling tool 70 in position.

Indeed, as illustrated in the figure, the handling tool 70 comprises a second centering zone 702 adapted to face the first centering zone 75 of the tool part 7 during assembly of the tool. handling 70 at its end. Thus, a positioning motor 76, fixed to the manipulation tool 70, allows the actuation of the manipulation tool 70. The electromagnet 751, powered by cables not shown, produces a magnetic field, under the effect of which the second ferromagnetic centering zone 702 is attracted opposite the first centering zone 75.

The electromagnet 751 thus makes it possible to compensate for the positioning clearances during the mounting of the handling tool at the end of the tooling part 7 and thus to avoid incorrect positioning of the handling tool 70.

Furthermore, electronic transmissions 77 are arranged at the end of the tooling part 7. Cables not shown make it possible to supply the electronic transmissions 77 with electric current. The electronic transmissions 77 make it possible to transmit the electrical power to the positioning motor 76 in order to be able to actuate the manipulation tool 70.

The handling tool being mounted to the tooling part 7, when the tooling part 7 rotates relative to the main part 620, it drives with it the handling tool 70 which consequently defines the same movement.

The present description is made for a robotic device 1 comprising a single cross member 61 and a single handling part 62 but remains valid for any robotic device regardless of the number of cross members and handling parts. Thus, it is for example possible to mount several manipulation parts 62 on the same cross-member 61.

The movements and degrees of freedom of the various components of the robotic device 1 having been described, we will now describe the step of detecting objects as well as the means allowing this detection.

In the embodiment described and illustrated, detection means 8 are arranged on the handling part 62 and in particular on the tool part 7. The tool part 7 comprises a camera 81, an ultrasonic distance sensor 82 and an LED light 83.

According to this embodiment, the camera 81 allows the vision and the location of the environment around the robotic arm 6 to be seen. Thus, the camera 81 can for example detect the presence of objects on a given object support 4. The camera 81 can also identify the position of a stored object or its nature.

Furthermore, the distance sensor 82 arranged here below the camera 81, makes it possible to carry out distance measurements with precision. This measurement can be useful during the object manipulation step to determine the position of the detected object.

Finally, LED light 83 makes it easier to detect objects by illuminating the objects and the object holders on which they are stored.

Of course, the detection means 8 can be placed elsewhere than on the robotic arm 6. In addition, other types of detection means can be used.

As explained above, the robotic device 1 operates in several stages; user control, positioning of the robotic arm, object detection and object manipulation. Different orders of the sequence of steps can be envisaged.

Now that the structure of the robotic device 1 has been described, we will focus on the steps of positioning the robotic arm 6 and handling objects.

In order to be able to handle an object, the robotic arm 6 is positioned at the level of the object support 4 in which the object to be handled is stored.

For this, the robotic arm 6 moves vertically on the mast 5 through the openings 41 visible in Figures 1b, 1c and 2. In fact, the openings 41 of the object supports 4 are adapted to the passage by vertical displacement of the robotic arm 6 on the mast 5. Thus, if the robotic arm 6 is at the level of the upper object support 4 (1) and the object to be handled is stored two object supports below, the robotic arm 6 will move vertically on the mast 5 through the openings 41 until it reaches the level of the object support 4 (3). The robotic arm 6 can then move in this object holder in order to manipulate the detected object.

In order to allow the passage of the robotic arm 6, the openings 41 concerned must be aligned. In the example taken above, in order to allow the robotic arm 6 to move from the object holder 4 (1) to the object holder 4 (3), it is necessary that at least the two respective openings 41 object supports 4 (1) and 4 (2) are aligned. The alignment of the openings 41 is possible thanks to the rotational movement of the object supports 4.

Once at the desired object support 4, the handling part 62 can then move according to the movements described above in order to handle the stored objects.

Indeed, the translational movements of the main part 620 along the cross member 61, of rotation of the main part 620 around the transmission shaft 622, of rotation of the main part 620 along an axis parallel to the cross member 61 and of rotation of the tooling part 7 relative to the main part 620, allow the handling part 62 when it is positioned at a given object support 4 to cover a certain handling area. The handling area corresponds to the part of the object holder 4 which is accessible to the robotic arm 6 thanks to the different possible movements described above.

Thus, only the objects located in this manipulation zone are accessible to the manipulation part 62 and can be manipulated.

When an object is not in the manipulation zone, depending on the position of the object determined during the object detection step, the object support 4 in which the detected object is located rotates thanks to the rotational movement of the object supports 4 so as to place the object in the handling area.

In addition, the height at which the cross member 61 is located at the mast 5 can also be adjusted by virtue of the vertical displacement of the cross member 61 on the mast 5.

Furthermore and as explained above, according to the embodiment of the robotic device 1 described and illustrated, the protective enclosure comprises the window 21.

The window 21 allows for example the user to deposit an object to be stored on the object support at the level of which said window 21 is made, here the object support 4 (2). The robotic arm 6 can then move to the object holder 4 (2), for example after detection of the object, then recover the deposited object in order to handle it or store it in another object holder

4.

The window 21 can of course have other shapes. For example, a smaller window 21 can be formed in a cover of the object holder 4 (2).

Furthermore, and as described above, the object supports 4 can be movable in vertical and horizontal translation.

The vertical translation movement is particularly advantageous, for example for ensuring the seal between two object supports 4. The shoulder of the object support which moves by vertical translation comes, for example, to rest on the upper object support . The space between the two object supports 4 can then be closed.

The horizontal translational movement also allows a user, for example, to access the object supports 4. Thus, the user can manually store objects there or on the contrary retrieve stored objects.

We will now present two examples of operation of the robotic device 1.

According to a first example of operation, the robotic device 1 comprises a central computer unit making it possible to execute instructions stored in a memory. Also, according to this first example, the memory knows on which object support 4 each object is stored. The robotic device 1 can operate in the following manner:

1) The user controls the manipulation of an object via any suitable control means;

2) The openings 41 of the object supports 4 concerned are aligned;

3) The cross member 61 of the robotic arm moves vertically along the mast 5 through the openings 41 until it reaches the desired object holder 4;

4) The detection means 8, for example arranged on the tooling part 7 of the robotic arm 6, detect the desired object on the object holder 4. Then, two possibilities can arise:

4a) The object is in the manipulation area of the robotic arm 6. The robotic device 1 then goes directly to step 5;

4b) The object is not in the manipulation area of the robotic arm 6. The object holder 4 is rotated so as to place the desired object in the handling area. If necessary, the height of the cross member 61 on the mast 5 can be adjusted. The robotic device 1 then goes to step 5;

5) The object is manipulated by means of the manipulation tool 70.

According to a second example of operation, the robotic device 1 comprises a central computer unit making it possible to execute instructions stored in a memory. According to this second example, the location of each object stored in the various object carriers 4 is not known beforehand. The robotic device 1 can operate in the following manner:

1) The user controls the manipulation of an object via any suitable control means;

2) The detection means 8, for example arranged at each object support 4, detect the desired object;

3) The processor sends the information to the robotic arm 6;

4) The openings 41 of the object supports 4 concerned are aligned;

5) The cross member 61 of the robotic arm moves vertically along the mast 5 through the openings 41 until it reaches the object holder 4 designated by the processor. Then there are two possibilities:

5a) The object is in the manipulation area of the robotic arm 6. The robotic device 1 then goes directly to step 6;

5b) The object is not in the manipulation area of the robotic arm 6. The object holder 4 is rotated so as to place the desired object in the handling area. If necessary, the height of the cross member 61 on the mast 5 can be adjusted. The robotic device 1 then goes to step 6;

6) The object is manipulated by means of the manipulation tool 70.

Of course, the robotic device can operate according to other examples of operation.

In the two operating examples described, certain steps can for example be skipped depending on the situation. This is the case for example of step 2 for the first example of operation (step 4 for the second example) if the openings 41 concerned are already aligned or of step 3 for the first example (step 5 for the second example) if the robotic arm 6 is already at the desired object support 4.

Obviously, the invention is not limited to the detailed embodiments described above. Many variants are possible without departing from the scope of the invention.

In general, the components requiring an electric current to operate can be supplied by means of cables not shown here. This is the case in the described embodiment of the electromagnet 751, of the various servomotors and motors and of the electronic transmissions 77.

The various guidance and transmission means described can of course be replaced by other alternatives, as explained above.

The gear wheels and motors can be mounted by means of a shaft connected to a hub.

Furthermore and as has been explained, the present invention is applicable in various fields. Thus, the robotic device can for example be used for the storage, preparation and cooking of food. It can also be used for the storage and distribution of boxes of medicines in a pharmacy for example or also of boxes of shoes in a store.

Claims (9)

1. Robotic device (1) for storing and handling objects comprising detection means (8) adapted to detect the objects to be handled, a mast (5), a robotic arm (6) mounted on said mast (5) and configured to handle the detected objects, characterized in that said robotic device (1) comprises object supports (4; 4 (1); 4 (2); 4 (3); 4 (4); 4 (5 ); 4 ') superimposed in a direction parallel to the mast (5) and mounted for rotation in a plane perpendicular to the mast (5), at least one of said object supports (4; 4 (1); 4 (2); 4 (3); 4 (4); 4 (5); 4 ') comprising an opening (41; 4T) suitable for the passage of the robotic arm (6) by vertical movement of the robotic arm (6) on the mast (5) . 2. Robotic device (1) according to claim 1, characterized in that the object supports (4; 4 (1); 4 (2); 4 (3); 4 (4); 4 (5); 4 ') are movable in translation in said perpendicular plane of the mast (5). 3. Robotic device (1) according to claim 1 or 2, characterized in that at least one of the object supports (4; 4 (1); 4 (2); 4 (3); 4 (4 ); 4 (5); 4 ') is divided into several compartments (42'). 4. robotic device (1) according to one of claims 1 to 3, characterized in that the robotic arm (6) comprises a cross member (61) and a handling part (62), said cross member (61) being adapted to move vertically on the mast (5), said handling part (62) being rotatably mounted on said crosspiece (61) and being adapted to move in translation on said crosspiece (61). 5. robotic device (1) according to claim 4, characterized in that the handling part (62) of the robotic arm (6) comprises a tool part (7) mounted in rotation, one end (626) of said part tool (7) comprising tool mounting elements. 6. robotic device (1) according to claim 5, characterized in that the manipulation part (61) of the robotic arm (6) comprises an electromagnet (751) adapted to maintain in said predefined position said manipulation part (62) during mounting a handling tool (70) at said end (626). 7. Robotic device (1) according to one of claims 4 to 6, characterized in that the robotic arm (6) comprises several parts of 5 manipulation (62). 8. robotic device (1) according to one of claims 1 to 7, characterized in that it comprises a protective enclosure (2) adapted to house the detection means (8), the object supports (4; 4 (1); 4 (2); 4 (3); 4 (4); 4 (5); 4 ') and the robotic arm (6). 10 9. Robotic device (1) according to claim 8, characterized in that the protective enclosure (2) comprises a window (21) adapted to the passage of objects and acting as an interface with a user.